Replay driving data
replay replays all the messages logged while running openpilot.
# Log in via browser to have access to non-public routes python tools/lib/auth.py # Start a replay tools/replay/replay <route-name> # Example: # tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36' # or use --demo to replay the default demo route: # tools/replay/replay --demo # watch the replay with the normal openpilot UI cd selfdrive/ui && ./ui # or try out a debug visualizer: python replay/ui.py
$ tools/replay/replay -h Usage: tools/replay/replay [options] route Mock openpilot components by publishing logged messages. Options: -h, --help Displays this help. -a, --allow <allow> whitelist of services to send -b, --block <block> blacklist of services to send -s, --start <seconds> start from <seconds> --demo use a demo route instead of providing your own --dcam load driver camera --ecam load wide road camera Arguments: route the drive to replay. find your drives at connect.comma.ai
watch all three cameras simultaneously from your comma three routes with watch3
simply replay a route using the
# start a replay cd tools/replay && ./replay --demo --dcam --ecam # then start watch3 cd selfdrive/ui && ./watch3
Stream CAN messages to your device
can_replay.py is a convenient script for when any CAN data will do.
In order to replay specific route:
MOCK=1 selfdrive/boardd/tests/boardd_old.py # In another terminal: tools/replay/replay <route-name>